/**
  ******************************************************************************
  * @file           : power_control_task.cpp
  * @author         : Tessia
  * @brief          : None
  * @attention      : None
  * @date           : 2024/4/5
  ******************************************************************************
  */



#include "power_control_task.h"

float current_speed_array[8];
float vel_pid_out_array[8];
float k_power_rudder = 1;

extern ChassisPowerDataStruct Power;

void power_control_task(void *argument){
    for(;;){
        ChassisWheelControl(current_speed_array, vel_pid_out_array);
        k_power_rudder = 1 - 4 * exp(-0.06 * Power.Buffer);
//        Power.k = 1;
//        k_power_rudder = 1;
        osDelay(1);
    }
}